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AP_Frsky_Telem: Plane support

This commit is contained in:
floaledm 2016-09-01 13:09:54 -05:00 committed by Tom Pittenger
parent b2b6c88edf
commit 5125846ac0
2 changed files with 34 additions and 1 deletions
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31
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
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@ -61,7 +61,36 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
/*
* init - perform required initialisation
* for Plane and Rover
* for Plane
*/
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah)
{
// check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_D; // FrSky D protocol (D-receivers)
} else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)
} else if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough, 0))) {
_protocol = AP_SerialManager::SerialProtocol_FrSky_SPort_Passthrough; // FrSky SPort and SPort Passthrough (OpenTX) protocols (X-receivers)
// add firmware and frame info to message queue
queue_message(MAV_SEVERITY_INFO, firmware_str);
// save main parameters locally
_params.mav_type = mav_type; // frame type (see MAV_TYPE in Mavlink definition file common.h)
_params.fs_batt_voltage = fs_batt_voltage; // failsafe battery voltage in volts
_params.fs_batt_mah = fs_batt_mah; // failsafe reserve capacity in mAh
*_ap.value = 0; // ap bit-field
}
if (_port != NULL) {
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));
// we don't want flow control for either protocol
_port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE);
}
}
/*
* init - perform required initialisation
* for Rover
*/
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager)
{

4
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -118,6 +118,7 @@ public:
// init - perform required initialisation
void init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value);
void init(const AP_SerialManager &serial_manager, const char *firmware_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah);
void init(const AP_SerialManager &serial_manager);
// add statustext message to FrSky lib queue.
@ -126,6 +127,9 @@ public:
// update flight control mode. The control mode is vehicle type specific
void update_control_mode(uint8_t mode) { _ap.control_mode = mode; }
// update whether we're flying (used for Plane)
void set_is_flying(bool is_flying) { *_ap.value == is_flying ? (*_ap.value | AP_ISFLYING_FLAG) : (*_ap.value & (~AP_ISFLYING_FLAG)); }
// update error mask of sensors and subsystems. The mask uses the
// MAV_SYS_STATUS_* values from mavlink. If a bit is set then it
// indicates that the sensor or subsystem is present but not